- Main Page
- Modules
- Data Structures
- Files

# rotation.h

    00001 /*************************************************************************
    00002  *                                                                       *
    00003  * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
    00004  * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
    00005  *                                                                       *
    00006  * This library is free software; you can redistribute it and/or         *
    00007  * modify it under the terms of EITHER:                                  *
    00008  *   (1) The GNU Lesser General Public License as published by the Free  *
    00009  *       Software Foundation; either version 2.1 of the License, or (at  *
    00010  *       your option) any later version. The text of the GNU Lesser      *
    00011  *       General Public License is included with this library in the     *
    00012  *       file LICENSE.TXT.                                               *
    00013  *   (2) The BSD-style license that is included with this library in     *
    00014  *       the file LICENSE-BSD.TXT.                                       *
    00015  *                                                                       *
    00016  * This library is distributed in the hope that it will be useful,       *
    00017  * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00018  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
    00019  * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
    00020  *                                                                       *
    00021  *************************************************************************/
    00022
    00023 #ifndef _ODE_ROTATION_H_
    00024 #define _ODE_ROTATION_H_
    00025
    00026 #include <ode/common.h>
    00027 #include <ode/compatibility.h>
    00028
    00029 #ifdef __cplusplus
    00030 extern "C" {
    00031 #endif
    00032
    00033
    00034 ODE_API void dRSetIdentity (dMatrix3 R);
    00035
    00036 ODE_API void dRFromAxisAndAngle (dMatrix3 R, dReal ax, dReal ay, dReal az,
    00037           dReal angle);
    00038
    00039 ODE_API void dRFromEulerAngles (dMatrix3 R, dReal phi, dReal theta, dReal psi);
    00040
    00041 ODE_API void dRFrom2Axes (dMatrix3 R, dReal ax, dReal ay, dReal az,
    00042         dReal bx, dReal by, dReal bz);
    00043
    00044 ODE_API void dRFromZAxis (dMatrix3 R, dReal ax, dReal ay, dReal az);
    00045
    00046 ODE_API void dQSetIdentity (dQuaternion q);
    00047
    00048 ODE_API void dQFromAxisAndAngle (dQuaternion q, dReal ax, dReal ay, dReal az,
    00049           dReal angle);
    00050
    00051 /* Quaternion multiplication, analogous to the matrix multiplication routines. */
    00052 /* qa = rotate by qc, then qb */
    00053 ODE_API void dQMultiply0 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);
    00054 /* qa = rotate by qc, then by inverse of qb */
    00055 ODE_API void dQMultiply1 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);
    00056 /* qa = rotate by inverse of qc, then by qb */
    00057 ODE_API void dQMultiply2 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);
    00058 /* qa = rotate by inverse of qc, then by inverse of qb */
    00059 ODE_API void dQMultiply3 (dQuaternion qa, const dQuaternion qb, const dQuaternion qc);
    00060
    00061 ODE_API void dRfromQ (dMatrix3 R, const dQuaternion q);
    00062 ODE_API void dQfromR (dQuaternion q, const dMatrix3 R);
    00063 ODE_API void dDQfromW (dReal dq[4], const dVector3 w, const dQuaternion q);
    00064
    00065
    00066 #ifdef __cplusplus
    00067 }
    00068 #endif
    00069
    00070 #endif